The code for this study was jointly developed by Tiffany Chen and other members of the Healthcare Robotics Lab. The manifest file shows some of the ROS package dependencies which can be downloaded from the Healthcare Robotics Lab, Georgia-Tech Github Repository.

lead.py contains the code for the main program that enables Cody to be lead in the forward/backward direction at the hands by human users.

ft_server.py contains code to publish data from the force/torque sensors mounted at the robot's wrist. A Kalman filter was applied to the force signals at values less than 3N.

ft_server.launch launches ft_server.py and other nodes necessary to communicate with the F/T boxes for the sensors mounted on the robot's wrists.

lead.launch launches nodes for the mobile base, the arms, and the vertical actuator.

set_height.py allows the robot's height to be adjusted according to different user heights.
